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Note 16 - Income Taxes (Details Textual) - USD ($)
 3 Months Ended 12 Months Ended
Dec. 31, 2017
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
Dec. 31, 2015
Effective Income Tax Rate Reconciliation, at Federal Statutory Income Tax Rate, Percent     35.00% 35.00% 35.00%
Tax Adjustments, Settlements, and Unusual Provisions $ 900,000        
Income Tax Expense (Benefit), Continuing Operations, Adjustment of Deferred Tax (Asset) Liability 600,000        
Effective Income Tax Rate Reconciliation, Repatriation of Foreign Earnings, Amount 200,000        
Foreign Earnings Repatriated 1,100,000        
Unrecognized Tax Benefits, Income Tax Penalties and Interest Accrued 0   $ 0 $ 100,000  
Unrecognized Tax Benefits, Income Tax Penalties and Interest Expense         $ 100,000
Domestic Tax Authority [Member]          
Operating Loss Carryforwards 35,900,000   35,900,000    
Tax Credit Carryforward, Amount 3,000,000   3,000,000    
State and Local Jurisdiction [Member]          
Operating Loss Carryforwards 51,500,000   51,500,000    
Tax Credit Carryforward, Amount $ 4,200,000   $ 4,200,000    
Scenario, Forecast [Member]          
Effective Income Tax Rate Reconciliation, at Federal Statutory Income Tax Rate, Percent   21.00%